受動的衝撃緩和機構を搭載した人間共存型ロボットの開発

―機構及び外装の改良―

抄録

We have developed the human friendly robot that consists of two arms, a trunk, a waist, an omnidirectional mobile base. Each arm of the robot has 2 DOF shoulder, 1 DOF elbow and 2 DOF hand, and its waist has 3 DOF. Its height is 1.42[m], its arm length is 0.76[m], and its total weight is 83.5 [kg]. In this paper, a new passive collision force suppression mechanism is described, which consists of two release air bags, a clutch gear, two coil springs, and four liner guides. Also, a new soft cover is developed to cover the entire outside of the robot. When the collision occurs between the robot and an object, the joints of the arm and the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. Collision experiments are conducted, and the effectiveness of the collision force suppression mechanism is verified.